Research on Motion Accuracy Calibration Method of Redundant Driven Parallel Manipulator
Aiming at the motion accuracy of redundant driven parallel manipulator(RAPM),taking a three degree of freedom spindle head as an example,a motion accuracy calibration method based on minimum error model is proposed.Firstly,by elimi-nating the redundant geometric source error,the minimum error model including the minimum geometric source error is estab-lished,and the sensitivity of geometric source error is analyzed by Monte Carlosimulation to study the relative impact of each geo-metric source error on terminal accuracy.On this basis,a hierarchical identification strategy combining coarse calibration and fine calibration is proposed to realize the accuracy calibration of redundant driven parallel manipulator.Finally,the calibration experiments show that the proposed calibration method can greatly reduce the terminal error of redundant driven parallel manipu-lator,and verify the effectiveness of the proposed calibration method.
Redundant Driven Parallel ManipulatorSports School AdmissionError ModelingSensitivity Analy-sisError Calibration
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维普
